Mobile object control device, mobile object control method, and storage medium

Abstract

A mobile object control device includes a storage medium which stores computer-readable instructions, and a processor which is connected to the storage medium, the processor executes the computer-readable instructions to: recognize a surrounding situation of a mobile object on the basis of at least a captured image of a surrounding situation of the mobile object, generate a route from the mobile object to a destination on the basis of the recognized surrounding situation and the set destination, judge whether or not an angle formed by a proceeding direction of the mobile object along the generated route and a straight line from the mobile object to the destination satisfies a predetermined condition, and control the mobile object such that the mobile object moves to the destination along the generated route. When it is judged that the angle satisfies the predetermined condition, the processor causes the mobile object to turn instantly and regenerates a route from the mobile object which has turned instantly to the destination.

What is claimed is: 
     
         1 . A mobile object control device comprising:
 a storage medium which stores computer-readable instructions; and   a processor which is connected to the storage medium,   wherein the processor executes the computer-readable instructions to:   recognize a surrounding situation of a mobile object on the basis of at least a captured image of a surrounding situation of the mobile object;   generate a route from the mobile object to a destination on the basis of the recognized surrounding situation and the set destination;   judge whether or not an angle formed by a proceeding direction of the mobile object along the generated route and a straight line from the mobile object to the destination satisfies a predetermined condition; and   control the mobile object such that the mobile object moves to the destination along the generated route,   wherein when it is judged that the angle satisfies the predetermined condition, the processor causes the mobile object to turn instantly and regenerates a route from the mobile object which has turned instantly to the destination.   
     
     
         2 . The mobile object control device according to  claim 1 ,
 wherein the predetermined condition is that the angle is equal to or larger than a first threshold.   
     
     
         3 . The mobile object control device according to  claim 2 ,
 wherein the processor judges whether or not an angle formed by the proceeding direction of the mobile object along the regenerated route and the straight line from the mobile object to the destination is smaller than a second threshold,   when it is judged that the angle is smaller than the second threshold, the processor controls the mobile object such that the mobile object moves to the destination along the regenerated route, and   the second threshold is a value smaller than the first threshold.   
     
     
         4 . The mobile object control device according to  claim 1 ,
 wherein the mobile object operates in any mode of a following mode of moving in a manner of following a user, and a guidance mode of moving ahead of the user in accordance with a movement speed of the user.   
     
     
         5 . The mobile object control device according to  claim 4 ,
 wherein when the mobile object operates in the following mode, the destination is the user or a location within a predetermined range from the user.   
     
     
         6 . The mobile object control device according to  claim 4 ,
 wherein when the mobile object operates in the guidance mode, the destination is a location set by the user or a location within a predetermined range ahead of the user.   
     
     
         7 . The mobile object control device according to  claim 4 ,
 wherein when the mobile object operates in the guidance mode, the destination is a provisional location provisionally set so as to reach a final location set by the user.   
     
     
         8 . A mobile object control method in which a computer
 recognizes a surrounding situation of a mobile object on the basis of at least a captured image of a surrounding situation of the mobile object,   generates a route from the mobile object to a destination on the basis of the recognized surrounding situation and the set destination,   judges whether or not an angle formed by a proceeding direction of the mobile object along the generated route and a straight line from the mobile object to the destination satisfies a predetermined condition, and   controls the mobile object such that the mobile object moves to the destination along the generated route,   wherein when it is judged that the angle satisfies the predetermined condition, the mobile object is caused to turn instantly and a route from the mobile object which has turned instantly to the destination is regenerated.   
     
     
         9 . A computer-readable non-transitory storage medium which stores a program causing a computer
 to recognize a surrounding situation of a mobile object on the basis of at least a captured image of a surrounding situation of the mobile object,   to generate a route from the mobile object to a destination on the basis of the recognized surrounding situation and the set destination,   to judge whether or not an angle formed by a proceeding direction of the mobile object along the generated route and a straight line from the mobile object to the destination satisfies a predetermined condition, and   to control the mobile object such that the mobile object moves to the destination along the generated route,   wherein when it is judged that the angle satisfies the predetermined condition, the mobile object is caused to turn instantly and a route from the mobile object which has turned instantly to the destination is regenerated.